is there any difference between 'ricevere' and 'prendere'? It sounds like you do not capture, indeed someone else has handed over the object by his consent in 'ricevere' ; however you act to take the object by your action in 'prendere' ?
Is "riceve" just in the sense of "receive". For example someone gives you the keys to the house you just bought.
Or can you also use it in a sense of "get" as in "he got back into the living room to get the keys" ?